OpenRaiser/Intern-Atlas huggingface dataset:
Seed Classification using Synthetic Image Datasets Generated from Low-Altitude UAV Imagery
Venue: arXiv cs.CV 2021
Year: 2021

Plant breeding programs extensively monitor the evolution of seed kernels for seed certification, wherein lies the need to appropriately label the seed kernels by type and quality. However, the breeding environments are large where the monitoring of seed kernels can be challenging due to the minuscule size of seed kernels. The use of unmanned aerial vehicles aids in seed monitoring and labeling since they can capture images at low altitudes whilst being able to access even the remotest areas in the environment. A key bottleneck in the labeling of seeds using UAV imagery is drone altitude i.e. the classification accuracy decreases as the altitude increases due to lower image detail. Convolutional neural networks are a great tool for multi-class image classification when there is a training dataset that closely represents the different scenarios that the network might encounter during evaluation. The article addresses the challenge of training data creation using Domain Randomization wherein synthetic image datasets are generated from a meager sample of seeds captured by the bottom camera of an autonomously driven Parrot AR Drone 2.0. Besides, the article proposes a seed classification framework as a proof-of-concept using the convolutional neural networks of Microsoft's ResNet-100, Oxford's VGG-16, and VGG-19. To enhance the classification accuracy of the framework, an ensemble model is developed resulting in an overall accuracy of 94.6%.
Grasp-Oriented Fine-grained Cloth Segmentation without Real Supervision
Venue: arXiv cs.CV 2021
Year: 2021

Automatically detecting graspable regions from a single depth image is a key ingredient in cloth manipulation. The large variability of cloth deformations has motivated most of the current approaches to focus on identifying specific grasping points rather than semantic parts, as the appearance and depth variations of local regions are smaller and easier to model than the larger ones. However, tasks like cloth folding or assisted dressing require recognising larger segments, such as semantic edges that carry more information than points. The first goal of this paper is therefore to tackle the problem of fine-grained region detection in deformed clothes using only a depth image. As a proof of concept, we implement an approach for T-shirts, and define up to 6 semantic regions of varying extent, including edges on the neckline, sleeve cuffs, and hem, plus top and bottom grasping points. We introduce a U-net based network to segment and label these parts. The second contribution of our work is concerned with the level of supervision that we require to train the proposed network. While most approaches learn to detect grasping points by combining real and synthetic annotations, in this work we defy the limitations of the synthetic data, and propose a multilayered domain adaptation (DA) strategy that does not use real annotations at all. We thoroughly evaluate our approach on real depth images of a T-shirt annotated with fine-grained labels. We show that training our network solely with synthetic data and the proposed DA yields results competitive with models trained on real data.
Generative Optimization Networks for Memory Efficient Data Generation
Venue: arXiv cs.LG 2021
Year: 2021

In standard generative deep learning models, such as autoencoders or GANs, the size of the parameter set is proportional to the complexity of the generated data distribution. A significant challenge is to deploy resource-hungry deep learning models in devices with limited memory to prevent system upgrade costs. To combat this, we propose a novel framework called generative optimization networks (GON) that is similar to GANs, but does not use a generator, significantly reducing its memory footprint. GONs use a single discriminator network and run optimization in the input space to generate new data samples, achieving an effective compromise between training time and memory consumption. GONs are most suited for data generation problems in limited memory settings. Here we illustrate their use for the problem of anomaly detection in memory-constrained edge devices arising from attacks or intrusion events. Specifically, we use a GON to calculate a reconstruction-based anomaly score for input time-series windows. Experiments on a Raspberry-Pi testbed with two existing and a new suite of datasets show that our framework gives up to 32% higher detection F1 scores and 58% lower memory consumption, with only 5% higher training overheads compared to the state-of-the-art.
Learning Canonical Embedding for Non-rigid Shape Matching
Venue: arXiv cs.CV 2021
Year: 2021

This paper provides a novel framework that learns canonical embeddings for non-rigid shape matching. In contrast to prior work in this direction, our framework is trained end-to-end and thus avoids instabilities and constraints associated with the commonly-used Laplace-Beltrami basis or sequential optimization schemes. On multiple datasets, we demonstrate that learning self symmetry maps with a deep functional map projects 3D shapes into a low dimensional canonical embedding that facilitates non-rigid shape correspondence via a simple nearest neighbor search. Our framework outperforms multiple recent learning based methods on FAUST and SHREC benchmarks while being computationally cheaper, data-efficient, and robust.
Active Learning of Markov Decision Processes using Baum-Welch algorithm (Extended)
Venue: arXiv cs.LG 2021
Year: 2021

Cyber-physical systems (CPSs) are naturally modelled as reactive systems with nondeterministic and probabilistic dynamics. Model-based verification techniques have proved effective in the deployment of safety-critical CPSs. Central for a successful application of such techniques is the construction of an accurate formal model for the system. Manual construction can be a resource-demanding and error-prone process, thus motivating the design of automata learning algorithms to synthesise a system model from observed system behaviours. This paper revisits and adapts the classic Baum-Welch algorithm for learning Markov decision processes and Markov chains. For the case of MDPs, which typically demand more observations, we present a model-based active learning sampling strategy that choses examples which are most informative w.r.t.\ the current model hypothesis. We empirically compare our approach with state-of-the-art tools and demonstrate that the proposed active learning procedure can significantly reduce the number of observations required to obtain accurate models.
Two-Bit Aggregation for Communication Efficient and Differentially Private Federated Learning
Venue: arXiv cs.LG 2021
Year: 2021

In federated learning (FL), a machine learning model is trained on multiple nodes in a decentralized manner, while keeping the data local and not shared with other nodes. However, FL requires the nodes to also send information on the model parameters to a central server for aggregation. However, the information sent from the nodes to the server may reveal some details about each node's local data, thus raising privacy concerns. Furthermore, the repetitive uplink transmission from the nodes to the server may result in a communication overhead and network congestion. To address these two challenges, in this paper, a novel two-bit aggregation algorithm is proposed with guaranteed differential privacy and reduced uplink communication overhead. Extensive experiments demonstrate that the proposed aggregation algorithm can achieve the same performance as state-of-the-art approaches on datasets such as MNIST, Fashion MNIST, CIFAR-10, and CIFAR-100, while ensuring differential privacy and improving communication efficiency.
Tribuo: Machine Learning with Provenance in Java
Venue: arXiv cs.LG 2021
Year: 2021

Machine Learning models are deployed across a wide range of industries, performing a wide range of tasks. Tracking these models and ensuring they behave appropriately is becoming increasingly difficult as the number of deployed models increases. There are also new regulatory burdens for ML systems which affect human lives, requiring a link between a model and its training data in high-risk situations. Current ML monitoring systems often provide provenance and experiment tracking as a layer on top of an ML library, allowing room for imperfect tracking and skew between the tracked object and the metadata. In this paper we introduce Tribuo, a Java ML library that integrates model training, inference, strong type-safety, runtime checking, and automatic provenance recording into a single framework. All Tribuo's models and evaluations record the full processing pipeline for input data, along with the training algorithms, hyperparameters and data transformation steps automatically. The provenance lives inside the model object and can be persisted separately using common markup formats. Tribuo implements many popular ML algorithms for classification, regression, clustering, multi-label classification and anomaly detection, along with interfaces to XGBoost, TensorFlow and ONNX Runtime. Tribuo's source code is available at https://github.com/oracle/tribuo under an Apache 2.0 license with documentation and tutorials available at https://tribuo.org.
Reconsidering Optimistic Algorithms for Relational DBMS
Venue: arXiv cs.DB 2021
Year: 2021

At DBKDA 2019, we demonstrated that StrongDBMS with simple but rigorous optimistic algorithms, provides better performance in situations of high concurrency than major commercial database management systems (DBMS). The demonstration was convincing but the reasons for its success were not fully analysed. There is a brief account of the results below. In this short contribution, we wish to discuss the reasons for the results. The analysis leads to a strong criticism of all DBMS algorithms based on locking, and based on these results, it is not fanciful to suggest that it is time to re-engineer existing DBMS.
A hybrid approach for dynamically training a torque prediction model for devising a human-machine interface control strategy
Venue: arXiv cs.CE 2021
Year: 2021

Human-machine interfaces (HMI) play a pivotal role in the rehabilitation and daily assistance of lower-limb amputees. The brain of such interfaces is a control model that detects the user's intention using sensor input and generates corresponding output (control commands). With recent advances in technology, AI-based policies have gained attention as control models for HMIs. However, supervised learning techniques require affluent amounts of labeled training data from the user, which is challenging in the context of lower-limb rehabilitation. Moreover, a static pre-trained model does not take the temporal variations in the motion of the amputee (e.g., due to speed, terrain) into account. In this study, we aimed to address both of these issues by creating an incremental training approach for a torque prediction model using incomplete user-specific training data and biologically inspired temporal patterns of human gait. To reach this goal, we created a hybrid of two distinct approaches, a generic inter-individual and an adapting individual-specific model that exploits the inter-limb synergistic coupling during human gait to learn a function that predicts the torque at the ankle joint continuously based on the kinematic sequences of the hip, knee, and shank. An inter-individual generic base model learns temporal patterns of gait from a set of able-bodied individuals and predicts the gait patterns for a new individual, while the individual-specific adaptation model learns and predicts the temporal patterns of gait specific to a particular individual. The iterative training using the hybrid model was validated on eight able-bodied and five transtibial amputee subjects. It was found that, with the addition of estimators fitted to individual-specific data, the accuracy significantly increased from the baseline inter-individual model and plateaued within two to three iterations.
Player Tracking and Identification in Ice Hockey
Venue: arXiv cs.CV 2021
Year: 2021

Tracking and identifying players is a fundamental step in computer vision-based ice hockey analytics. The data generated by tracking is used in many other downstream tasks, such as game event detection and game strategy analysis. Player tracking and identification is a challenging problem since the motion of players in hockey is fast-paced and non-linear when compared to pedestrians. There is also significant camera panning and zooming in hockey broadcast video. Identifying players in ice hockey is challenging since the players of the same team look almost identical, with the jersey number the only discriminating factor between players. In this paper, an automated system to track and identify players in broadcast NHL hockey videos is introduced. The system is composed of three components (1) Player tracking, (2) Team identification and (3) Player identification. Due to the absence of publicly available datasets, the datasets used to train the three components are annotated manually. Player tracking is performed with the help of a state of the art tracking algorithm obtaining a Multi-Object Tracking Accuracy (MOTA) score of 94.5%. For team identification, the away-team jerseys are grouped into a single class and home-team jerseys are grouped in classes according to their jersey color. A convolutional neural network is then trained on the team identification dataset. The team identification network gets an accuracy of 97% on the test set. A novel player identification model is introduced that utilizes a temporal one-dimensional convolutional network to identify players from player bounding box sequences. The player identification model further takes advantage of the available NHL game roster data to obtain a player identification accuracy of 83%.
Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance
Venue: arXiv cs.RO 2021
Year: 2021

Safe navigation in real-time is challenging because engineers need to work with uncertain vehicle dynamics, variable external disturbances, and imperfect controllers. A common safety strategy is to inflate obstacles by hand-defined margins. However, arbitrary static margins often fail in more dynamic scenarios, and using worst-case assumptions is overly conservative for most settings where disturbances over time. In this work, we propose a middle ground: safety margins that adapt on-the-fly. In an offline phase, we use Monte Carlo simulations to pre-compute a library of safety margins for multiple levels of disturbance uncertainties. Then, at runtime, our system estimates the current disturbance level to query the associated safety margins that best trades off safety and performance. We validate our approach with extensive simulated and real-world flight tests. We show that our adaptive method significantly outperforms static margins, allowing the vehicle to operate up to 1.5 times faster than worst-case static margins while maintaining safety. Video: https://youtu.be/SHzKHSUjdUU
PRRS Outbreak Prediction via Deep Switching Auto-Regressive Factorization Modeling
Venue: arXiv cs.LG 2021
Year: 2021

We propose an epidemic analysis framework for the outbreak prediction in the livestock industry, focusing on the study of the most costly and viral infectious disease in the swine industry -- the PRRS virus. Using this framework, we can predict the PRRS outbreak in all farms of a swine production system by capturing the spatio-temporal dynamics of infection transmission based on the intra-farm pig-level virus transmission dynamics, and inter-farm pig shipment network. We simulate a PRRS infection epidemic based on the shipment network and the SEIR epidemic model using the statistics extracted from real data provided by the swine industry. We develop a hierarchical factorized deep generative model that approximates high dimensional data by a product between time-dependent weights and spatially dependent low dimensional factors to perform per farm time series prediction. The prediction results demonstrate the ability of the model in forecasting the virus spread progression with average error of NRMSE = 2.5\%.
Data-driven behavioural biometrics for continuous and adaptive user verification using Smartphone and Smartwatch
Venue: arXiv cs.LG 2021
Year: 2021

Recent studies have shown how motion-based biometrics can be used as a form of user authentication and identification without requiring any human cooperation. This category of behavioural biometrics deals with the features we learn in our life as a result of our interaction with the environment and nature. This modality is related to change in human behaviour over time. The developments in these methods aim to amplify continuous authentication such as biometrics to protect their privacy on user devices. Various Continuous Authentication (CA) systems have been proposed in the literature. They represent a new generation of security mechanisms that continuously monitor user behaviour and use this as the basis to re-authenticate them periodically throughout a login session. However, these methods usually constitute a single classification model which is used to identify or verify a user. This work proposes an algorithm to blend behavioural biometrics with multi-factor authentication (MFA) by introducing a two-step user verification algorithm that verifies the user's identity using motion-based biometrics and complements the multi-factor authentication, thus making it more secure and flexible. This two-step user verification algorithm is also immune to adversarial attacks, based on our experimental results which show how the rate of misclassification drops while using this model with adversarial data.
Ranking Warnings of Static Analysis Tools Using Representation Learning
Venue: arXiv cs.SE 2021
Year: 2021

Static analysis tools are frequently used to detect potential vulnerabilities in software systems. However, an inevitable problem of these tools is their large number of warnings with a high false positive rate, which consumes time and effort for investigating. In this paper, we present DeFP, a novel method for ranking static analysis warnings. Based on the intuition that warnings which have similar contexts tend to have similar labels (true positive or false positive), DeFP is built with two BiLSTM models to capture the patterns associated with the contexts of labeled warnings. After that, for a set of new warnings, DeFP can calculate and rank them according to their likelihoods to be true positives (i.e., actual vulnerabilities). Our experimental results on a dataset of 10 real-world projects show that using DeFP, by investigating only 60% of the warnings, developers can find +90% of actual vulnerabilities. Moreover, DeFP improves the state-of-the-art approach 30% in both Precision and Recall.
Evaluating model-based planning and planner amortization for continuous control
Venue: arXiv cs.RO 2021
Year: 2021

There is a widespread intuition that model-based control methods should be able to surpass the data efficiency of model-free approaches. In this paper we attempt to evaluate this intuition on various challenging locomotion tasks. We take a hybrid approach, combining model predictive control (MPC) with a learned model and model-free policy learning; the learned policy serves as a proposal for MPC. We find that well-tuned model-free agents are strong baselines even for high DoF control problems but MPC with learned proposals and models (trained on the fly or transferred from related tasks) can significantly improve performance and data efficiency in hard multi-task/multi-goal settings. Finally, we show that it is possible to distil a model-based planner into a policy that amortizes the planning computation without any loss of performance. Videos of agents performing different tasks can be seen at https://sites.google.com/view/mbrl-amortization/home.
Modeling Effect of Lockdowns and Other Effects on India Covid-19 Infections Using SEIR Model and Machine Learning
Venue: arXiv cs.LG 2021
Year: 2021

The SEIR model is a widely used epidemiological model used to predict the rise in infections. This model has been widely used in different countries to predict the number of Covid-19 cases. But the original SEIR model does not take into account the effect of factors such as lockdowns, vaccines, and re-infections. In India the first wave of Covid started in March 2020 and the second wave in April 2021. In this paper, we modify the SEIR model equations to model the effect of lockdowns and other influencers, and fit the model on data of the daily Covid-19 infections in India using lmfit, a python library for least squares minimization for curve fitting. We modify R0 parameter in the standard SEIR model as a rectangle in order to account for the effect of lockdowns. Our modified SEIR model accurately fits the available data of infections.
Bad-Policy Density: A Measure of Reinforcement Learning Hardness
Venue: arXiv cs.LG 2021
Year: 2021

Reinforcement learning is hard in general. Yet, in many specific environments, learning is easy. What makes learning easy in one environment, but difficult in another? We address this question by proposing a simple measure of reinforcement-learning hardness called the bad-policy density. This quantity measures the fraction of the deterministic stationary policy space that is below a desired threshold in value. We prove that this simple quantity has many properties one would expect of a measure of learning hardness. Further, we prove it is NP-hard to compute the measure in general, but there are paths to polynomial-time approximation. We conclude by summarizing potential directions and uses for this measure.
From the Head or the Heart? An Experimental Design on the Impact of Explanation on Cognitive and Affective Trust
Venue: arXiv cs.HC 2021
Year: 2021

Automated vehicles (AVs) are social robots that can potentially benefit our society. According to the existing literature, AV explanations can promote passengers' trust by reducing the uncertainty associated with the AV's reasoning and actions. However, the literature on AV explanations and trust has failed to consider how the type of trust - cognitive versus affective - might alter this relationship. Yet, the existing literature has shown that the implications associated with trust vary widely depending on whether it is cognitive or affective. To address this shortcoming and better understand the impacts of explanations on trust in AVs, we designed a study to investigate the effectiveness of explanations on both cognitive and affective trust. We expect these results to be of great significance in designing AV explanations to promote AV trust.
Towards Robust and Transferable IIoT Sensor based Anomaly Classification using Artificial Intelligence
Venue: arXiv cs.LG 2021
Year: 2021

The increasing deployment of low-cost industrial IoT (IIoT) sensor platforms on industrial assets enables great opportunities for anomaly classification in industrial plants. The performance of such a classification model depends highly on the available training data. Models perform well when the training data comes from the same machine. However, as soon as the machine is changed, repaired, or put into operation in a different environment, the prediction often fails. For this reason, we investigate whether it is feasible to have a robust and transferable method for AI based anomaly classification using different models and pre-processing steps on centrifugal pumps which are dismantled and put back into operation in the same as well as in different environments. Further, we investigate the model performance on different pumps from the same type compared to those from the training data.